REG: Vision System for Real-Time Control of a Robotic Manipulation

伊利诺伊大学协调科学实验室- 尚潘将购买设备，以支持研究在真实的- 基于时间视觉的机器人自适应控制的 设备，包括摄像机、视觉系统和计算机 工作站，将连接到一个直接驱动的机械手， 在研究项目中使用，旨在提高 自适应机器人控制该项目将力求量化， 通过理论和实验研究， 机器人控制中可能出现的各种不稳定现象， 实时自适应视觉反馈作为外部 干扰和未建模动态。这些现象中， 研究的是慢参数漂移不稳定性，快速适应 不稳定性、爆裂等。最终目的是让 机器人的自适应控制具有很强的鲁棒性，因此很实用 从工程学的角度来看，** //

The Coordinated Science Laboratory at the University of Illinois- Champaign will purchase equipment to support research in real- time vision based adaptive control of robotic manipulators. The equipment, consisting of a camera, vision system, and computer workstation, will be interfaced to a direct-drive manipulator for use in research projects aimed at improving the robustness of adaptive robot control. The project will seek to quantify, through theoretical and experimental investigation of adaptive robot control, various instability phenomena that may arise in real-time adaptive vision feedback as a result of external disturbances and unmodeled dynamics. Among the phenomena to be studied are slow parameter drift instabilities, fast adaptation instabilities, bursting, and more. The ultimate goal is to make adaptive control of robots highly robust and therefore practical from an engineering standpoint.*** //